具有未知视觉参数的非完整移动机器人的自适应动态反馈跟踪控制
Adaptive Dynamic Feedback Tracking Control for Nonholonomic Mobile Robots with Unknown Visual Parameters
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摘要: 基于视觉反馈和链式标准形式,研究了一类不确定非完整移动机器人的轨迹跟踪控制问题. 在具有不确定视觉参数的情形下, 利用Lyapunov 直接法和back-stepping 技巧, 设计出了一种新的自适应动态反馈跟踪控制器, 实现了全局轨迹跟踪. 仿真结果证实了所提出的控制器的有效性.Abstract: Based on visual servoing feedback and the chained form, the trajectory tracking control problem of uncertain nonholonomic mobile robots is addressed in this paper. A new adaptive dynamic feedback tracking controller is presented in the presence of parametric uncertainties associated with the visual system. The controller synthesis is based on Lyapunov’s direct method and back-stepping technique. The proposed dynamic tracking controllers can globally make the states of the systems asymptotically track the given trajectories. Simulation results are provided to illustrate the performance of the control law.